yuki honma / UnderBody

下半身制御用ライブラリ Odometry...自己位置推定 Mecanum...メカナムホイール用 Bezier...ベジエ曲線 RoboClaw...MD用

Dependents:   TOUTEKI_all_mbed mbed_test_program

Mecanum.h@3:9c3f2662974e, 2018-09-04 (annotated)

Committer:
yuki17100
Date:
Tue Sep 04 14:22:13 2018 +0000
Revision:
3:9c3f2662974e
Parent:
0:62707e16531a 
Mecanum????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
yuki17100 0:62707e16531a 1 #ifndef MECANUM_H
yuki17100 0:62707e16531a 2 #define MECANUM_H
yuki17100 0:62707e16531a 3
yuki17100 0:62707e16531a 4 #include "mbed.h"
yuki17100 0:62707e16531a 5 #include "RoboClaw.h"
yuki17100 0:62707e16531a 6
yuki17100 0:62707e16531a 7 #define ADR_MD1 128
yuki17100 0:62707e16531a 8 #define ADR_MD2 129
yuki17100 0:62707e16531a 9
yuki17100 0:62707e16531a 10 #define PIN_MD p13
yuki17100 0:62707e16531a 11
yuki17100 3:9c3f2662974e 12 #define CMD (10000/1000)
yuki17100 0:62707e16531a 13
yuki17100 0:62707e16531a 14 class Mecanum{
yuki17100 0:62707e16531a 15 public:
yuki17100 0:62707e16531a 16 Mecanum();
yuki17100 0:62707e16531a 17
yuki17100 0:62707e16531a 18 void move(double direction, double speed, double revolution);
yuki17100 3:9c3f2662974e 19 void rectang(double x, double y, double rotation);
yuki17100 0:62707e16531a 20
yuki17100 0:62707e16531a 21 RoboClaw MD;
yuki17100 0:62707e16531a 22
yuki17100 0:62707e16531a 23 private:
yuki17100 0:62707e16531a 24
yuki17100 3:9c3f2662974e 25 void command(double (&duty)[4]);
yuki17100 3:9c3f2662974e 26
yuki17100 0:62707e16531a 27 };
yuki17100 0:62707e16531a 28
yuki17100 0:62707e16531a 29 #endif